#ifndef PID_H
#define PID_H

extern float P[3], I[3], D[3];
extern float Isum[3], Imin[3], Imax[3];
extern float last_error[3];

extern void pid_init(short index, float P_, float I_, float D_, float Imin_, float Imax_);

extern float pid_update(short index, float error);

#endif
